Merge pull request #2355 from SciML/fb/discrete_timing

add component-based hybrid system test

Author: YingboMa

Project.toml

@@ -113,6 +113,7 @@ julia = "1.9"
 [extras]
 AmplNLWriter = "7c4d4715-977e-5154-bfe0-e096adeac482"
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 ControlSystemsMTK = "687d7614-c7e5-45fc-bfc3-9ee385575c88"
 DeepDiffs = "ab62b9b5-e342-54a8-a765-a90f495de1a6"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
@@ -136,4 +137,4 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["AmplNLWriter", "BenchmarkTools", "ControlSystemsMTK", "NonlinearSolve", "ForwardDiff", "Ipopt", "Ipopt_jll", "ModelingToolkitStandardLibrary", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "Random", "ReferenceTests", "SafeTestsets", "StableRNGs", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials", "StochasticDelayDiffEq", "Pkg"]
+test = ["AmplNLWriter", "BenchmarkTools", "ControlSystemsBase", "ControlSystemsMTK", "NonlinearSolve", "ForwardDiff", "Ipopt", "Ipopt_jll", "ModelingToolkitStandardLibrary", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "Random", "ReferenceTests", "SafeTestsets", "StableRNGs", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials", "StochasticDelayDiffEq", "Pkg"]

src/systems/clock_inference.jl

@@ -150,6 +150,7 @@ function generate_discrete_affect(syss, inputs, continuous_id, id_to_clock;
     param_to_idx = Dict{Any, Int}(reverse(en) for en in enumerate(appended_parameters))
     offset = length(appended_parameters)
     affect_funs = []
+    init_funs = []
     svs = []
     clocks = TimeDomain[]
     for (i, (sys, input)) in enumerate(zip(syss, inputs))
@@ -202,6 +203,18 @@ function generate_discrete_affect(syss, inputs, continuous_id, id_to_clock;
             push!(save_vec.args, :(p[$(input_offset + i)]))
         end
         empty_disc = isempty(disc_range)
+
+        disc_init = :(function (p, t)
+            d2c_obs = $disc_to_cont_obs
+            d2c_view = view(p, $disc_to_cont_idxs)
+            disc_state = view(p, $disc_range)
+            copyto!(d2c_view, d2c_obs(disc_state, p, t))
+        end)
+
+        # @show disc_to_cont_idxs
+        # @show cont_to_disc_idxs
+        # @show disc_range
+
         affect! = :(function (integrator, saved_values)
             @unpack u, p, t = integrator
             c2d_obs = $cont_to_disc_obs
@@ -212,27 +225,42 @@ function generate_discrete_affect(syss, inputs, continuous_id, id_to_clock;
             d2c_view = view(p, $disc_to_cont_idxs)
             disc_state = view(p, $disc_range)
             disc = $disc
-            # Write continuous into to discrete: handles `Sample`
-            copyto!(c2d_view, c2d_obs(integrator.u, p, t))
-            # Write discrete into to continuous
-            # get old discrete states
-            copyto!(d2c_view, d2c_obs(disc_state, p, t))
+
             push!(saved_values.t, t)
             push!(saved_values.saveval, $save_vec)
-            # update discrete states
+
+            # Write continuous into to discrete: handles `Sample`
+            # Write discrete into to continuous
+            # Update discrete states
+
+            # At a tick, c2d must come first
+            # state update comes in the middle
+            # d2c comes last
+            # @show t
+            # @show "incoming", p
+            copyto!(c2d_view, c2d_obs(integrator.u, p, t))
+            # @show "after c2d", p
             $empty_disc || disc(disc_state, disc_state, p, t)
+            # @show "after state update", p
+            copyto!(d2c_view, d2c_obs(disc_state, p, t))
+            # @show "after d2c", p
         end)
         sv = SavedValues(Float64, Vector{Float64})
         push!(affect_funs, affect!)
+        push!(init_funs, disc_init)
         push!(svs, sv)
     end
     if eval_expression
         affects = map(affect_funs) do a
             drop_expr(@RuntimeGeneratedFunction(eval_module, toexpr(LiteralExpr(a))))
         end
+        inits = map(init_funs) do a
+            drop_expr(@RuntimeGeneratedFunction(eval_module, toexpr(LiteralExpr(a))))
+        end
     else
         affects = map(a -> toexpr(LiteralExpr(a)), affect_funs)
+        inits = map(a -> toexpr(LiteralExpr(a)), init_funs)
     end
     defaults = Dict{Any, Any}(v => 0.0 for v in Iterators.flatten(inputs))
-    return affects, clocks, svs, appended_parameters, defaults
+    return affects, inits, clocks, svs, appended_parameters, defaults
 end

src/systems/diffeqs/abstractodesystem.jl

@@ -945,8 +945,9 @@ function DiffEqBase.ODEProblem{iip, specialize}(sys::AbstractODESystem, u0map =
         has_difference = has_difference,
         check_length, kwargs...)
     cbs = process_events(sys; callback, has_difference, kwargs...)
+    inits = []
     if has_discrete_subsystems(sys) && (dss = get_discrete_subsystems(sys)) !== nothing
-        affects, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
+        affects, inits, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
         discrete_cbs = map(affects, clocks, svs) do affect, clock, sv
             if clock isa Clock
                 PeriodicCallback(DiscreteSaveAffect(affect, sv), clock.dt)
@@ -976,7 +977,13 @@ function DiffEqBase.ODEProblem{iip, specialize}(sys::AbstractODESystem, u0map =
     if svs !== nothing
         kwargs1 = merge(kwargs1, (disc_saved_values = svs,))
     end
-    ODEProblem{iip}(f, u0, tspan, p, pt; kwargs1..., kwargs...)
+    prob = ODEProblem{iip}(f, u0, tspan, p, pt; kwargs1..., kwargs...)
+    if !isempty(inits)
+        for init in inits
+            init(prob.p, tspan[1])
+        end
+    end
+    prob
 end
 get_callback(prob::ODEProblem) = prob.kwargs[:callback]
 
@@ -1045,8 +1052,9 @@ function DiffEqBase.DDEProblem{iip}(sys::AbstractODESystem, u0map = [],
     h = h_oop
     u0 = h(p, tspan[1])
     cbs = process_events(sys; callback, has_difference, kwargs...)
+    inits = []
     if has_discrete_subsystems(sys) && (dss = get_discrete_subsystems(sys)) !== nothing
-        affects, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
+        affects, inits, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
         discrete_cbs = map(affects, clocks, svs) do affect, clock, sv
             if clock isa Clock
                 PeriodicCallback(DiscreteSaveAffect(affect, sv), clock.dt)
@@ -1075,7 +1083,13 @@ function DiffEqBase.DDEProblem{iip}(sys::AbstractODESystem, u0map = [],
     if svs !== nothing
         kwargs1 = merge(kwargs1, (disc_saved_values = svs,))
     end
-    DDEProblem{iip}(f, u0, h, tspan, p; kwargs1..., kwargs...)
+    prob = DDEProblem{iip}(f, u0, h, tspan, p; kwargs1..., kwargs...)
+    if !isempty(inits)
+        for init in inits
+            init(prob.p, tspan[1])
+        end
+    end
+    prob
 end
 
 function DiffEqBase.SDDEProblem(sys::AbstractODESystem, args...; kwargs...)
@@ -1099,8 +1113,9 @@ function DiffEqBase.SDDEProblem{iip}(sys::AbstractODESystem, u0map = [],
     h(p, t) = h_oop(p, t)
     u0 = h(p, tspan[1])
     cbs = process_events(sys; callback, has_difference, kwargs...)
+    inits = []
     if has_discrete_subsystems(sys) && (dss = get_discrete_subsystems(sys)) !== nothing
-        affects, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
+        affects, inits, clocks, svs = ModelingToolkit.generate_discrete_affect(dss...)
         discrete_cbs = map(affects, clocks, svs) do affect, clock, sv
             if clock isa Clock
                 PeriodicCallback(DiscreteSaveAffect(affect, sv), clock.dt)
@@ -1140,8 +1155,15 @@ function DiffEqBase.SDDEProblem{iip}(sys::AbstractODESystem, u0map = [],
     else
         noise_rate_prototype = zeros(eltype(u0), size(noiseeqs))
     end
-    SDDEProblem{iip}(f, f.g, u0, h, tspan, p; noise_rate_prototype =
+    prob = SDDEProblem{iip}(f, f.g, u0, h, tspan, p;
+        noise_rate_prototype =
         noise_rate_prototype, kwargs1..., kwargs...)
+    if !isempty(inits)
+        for init in inits
+            init(prob.p, tspan[1])
+        end
+    end
+    prob
 end
 
 """